WO2012136721A1 - Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule - Google Patents

Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule Download PDF

Info

Publication number
WO2012136721A1
WO2012136721A1 PCT/EP2012/056205 EP2012056205W WO2012136721A1 WO 2012136721 A1 WO2012136721 A1 WO 2012136721A1 EP 2012056205 W EP2012056205 W EP 2012056205W WO 2012136721 A1 WO2012136721 A1 WO 2012136721A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering angle
parking
section
vehicle
track section
Prior art date
Application number
PCT/EP2012/056205
Other languages
German (de)
English (en)
Inventor
Andreas Gruetzmann
Marcus Schneider
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to KR1020197003275A priority Critical patent/KR102026408B1/ko
Priority to KR1020137026365A priority patent/KR101949545B1/ko
Priority to EP12715036.5A priority patent/EP2694315B1/fr
Priority to JP2014503137A priority patent/JP2014509988A/ja
Publication of WO2012136721A1 publication Critical patent/WO2012136721A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/18—Roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

Definitions

  • the present invention relates to a parking assist system and method for a vehicle.
  • the driver no longer needs to turn the steering wheel of the vehicle himself, but merely has to maneuver forward and / or backward.
  • the deflection of the steering wheel is taken over by the parking assistant by driving the electric steering (EPS) of the vehicle.
  • EPS electric steering
  • the deflection time is conventionally determined either by the choice of the gear, in particular a forward gear or the reverse gear, or by means of a, for example, the ABS / ESP, detected rolling direction.
  • the steering wheel of the vehicle to be parked is moved so that by several forward and backward moves the distance and angle to
  • Curb is enlarged and a collision-free extension from a parking space is possible.
  • the present invention is an automatically steering parking assistance system, in particular parking and / or parking assistance system, for a vehicle comprising a sensor system for measuring distance data between the vehicle and its surroundings, a roll direction detector for detecting the rolling direction of the vehicle and a processing device .
  • a sensor system for measuring distance data between the vehicle and its surroundings
  • a roll direction detector for detecting the rolling direction of the vehicle
  • a processing device which calculates a parking space on the basis of the measured distance data, calculates a trajectory to be traversed during parking in the parking space and automatically controls a steering device of the vehicle according to the calculated trajectory during the parking process, in particular to steer the vehicle without a steering intervention by the driver.
  • a steering angle of the steering device adjusted before the rolling direction change is maintained for a specific first route section.
  • the steering angle is when driving through the first
  • Track section constant and is changed only when driving through a subsequent section.
  • Under the steering angle can be understood in particular the angle between the plane of a steerable wheel of the vehicle and the straight running position of the vehicle.
  • the parking assistance system has the advantage that the driver can also park on the slope "liquid.”
  • the driver can also park on the slope "liquid.”
  • the rolling direction can be changed by more or less pressing the clutch pedal, the vehicle rolling downhill on depression of the clutch pedal and uphill on release of the clutch pedal Therefore, it is particularly advantageous when parking on slopes that the steering angle is maintained in the first section has the advantage that interference, which from a different detection or perception of Rollidess Sungen page ns of the roll direction detector, for example, an ABS / ESP, and the result of the driver can be avoided.
  • the parking assistance system according to the invention is particularly advantageous when parking in small parking spaces on a slope.
  • the steering angle when passing through a second track section adjoining the first track section, the steering angle, relative to the steering angle of the first track section, is changed.
  • the steering angle of the second track section is essentially zero degrees or corresponds to the neutral position.
  • the angle to a lateral parking space boundary for example, a curb, and at the same time the electrical steering of the vehicle can be spared at the next movement.
  • the steering angle of the second section in particular with respect to the neutral position, a different sign than the steering angle of the first section.
  • the steering angle can have a positive sign when the steering wheel is deflected to the left and a negative sign when the steering wheel is deflected to the right.
  • substantially it may be understood in particular that slight deviations of exactly zero degrees, for example by + 5 °, are included.
  • the steering angle of the second span section is essentially zero degrees, with the steering angle of the third
  • the steering angle when passing through the second and / or third track section is changed stepwise or continuously.
  • a stepwise change can be understood to mean, in particular, a conversion in discrete stages, wherein the steering angle is respectively readjusted when driving over certain partial section sections.
  • a continuous change can be understood to mean, in particular, a conversion as a continuous function of the path, in which the steering angle is a continuous function of the rumpled route.
  • the steering angle between the first and second link section and / or the second and third link section is changed stepwise, for example by a step of more than 15 °.
  • the parking process can be better adapted to the conditions of the corresponding parking space.
  • the parking assistance system is preferably terminated or terminated when a distance traversed in the opposite direction of rolling and the direction of travel exceeds a specific limit value, for example of 1.5 m.
  • a particularly secure system can be made available.
  • the steering angles and / or track section lengths and / or steering angle changes, in particular of the first, second and third track sections, depending on, for example, the present / achieved angle to the curb, the number of forward / reverse maneuvers already performed, the distance traveled, the distance to the curb, the distance to the parking space boundaries and / or the dimensions of the parking space boundaries designed.
  • the roll direction detector is an anti-blocking system (ABS) and / or electronic stability program (ESP).
  • ABS anti-blocking system
  • ESP electronic stability program
  • the sensor system may, for example, comprise one or more distance sensors, which are for example selected from the group consisting of acoustic distance sensors, in particular ultrasonic sensors, optical distance sensors, for example video sensors, infrared and UV sensors.
  • acoustic distance sensors in particular ultrasonic sensors
  • optical distance sensors for example video sensors, infrared and UV sensors.
  • a further subject matter of the present invention is an automatically steering parking assistance method, in particular parking and / or parking assistance procedure, for a vehicle, comprising the method steps: Measuring distance data between the vehicle and its surroundings, for example by means of a sensor system,
  • Determining a parking space on the basis of the measured distance data for example by a processing device,
  • a steering angle of the steering device set for a certain first route section is maintained before the rolling direction change.
  • the steering angle when driving through a second track section adjoining the first track section, the steering angle, based on the steering angle of the first track section, is changed.
  • the steering angle of the second track section is substantially zero degrees (neutral position) or, in particular with respect to the neutral position, has a different sign than the steering angle of the first track section.
  • substantially it can be understood that slight deviations of exactly zero degrees, for example by ⁇ 5 °, are included.
  • the steering angle when passing through a third track section adjoining the second track section, the steering angle, relative to the steering angle of the first and / or second track section, is changed.
  • the steering angle of the second track section is substantially zero degrees, wherein the steering angle of the third Section has a different sign than the steering angle of the first section.
  • the steering angle when passing through the second and / or third track section is changed stepwise or continuously.
  • the steering angle between the first and second track section and / or the second and third track section is changed stepwise, for example by a step of more than 15 °.
  • the steering angle set before the roll direction change is changed stepwise or continuously during passage through the first road section.
  • the parking assistance system is aborted when a distance traveled in an opposite direction of rolling and direction of movement exceeds a certain limit value, for example of 1.5 m.
  • Another object of the invention is a vehicle, in particular motor vehicle, which comprises a parking system according to the invention and a computer program and / or a data carrier, which allows a processor to perform a method according to the invention.
  • Figure 1 is a schematic plan view of a vehicle during the parking process, which is equipped with an embodiment of a parking system according to the invention.
  • Fig. 2a-c are schematic views of the steering wheel and the wheels of the steerable
  • Axle of a vehicle with a steering angle to the left, in neutral position and with a steering angle to the right.
  • Figure 1 illustrates the steering behavior of a vehicle equipped with an embodiment of a parking assist system according to the invention when changing from a forward to a rinse bath for the center of the
  • Vehicle rear axle for example, when parking out of a parking space.
  • the deflection time and the direction of the deflection process take place in that, instead of a gear information, the instantaneous rolling direction is used to determine the steering operation.
  • the steering wheel and thus the wheels of the steerable axle for example, the front wheels, initially by a side parking space boundary, for example, a curb (right of Figure 1), away, with the vehicle moves forward.
  • a side parking space boundary for example, a curb (right of Figure 1)
  • the vehicle is moved backwards, during which the steering wheel and the steerable wheels are steered in the direction of the lateral parking space boundary. This increases the angle and the distance to the lateral parking space boundary.
  • Such forward and reverse trains can be repeated until collision-free extension from the parking space is possible.
  • FIG. 1 shows that the vehicle first rolls forward on a turn.
  • the radius of the curve results from a steering angle, which moves the vehicle away from a parking space boundary, for example a curb, (to the right of FIG.
  • the deflection process is path-dependent, ie for a first route section I, which for example is 10 cm At first, the steering wheel is not deflected at first, so the vehicle first moves back on the same arc as it described during the forward drive.
  • the second section II may be, for example, 50 cm.
  • the steering wheel Upon reaching the third section III, the steering wheel is further deflected to the side parking space boundary, for example, to the curb, towards further increase the vehicle angle thereto.
  • the driver can use the first I and
  • FIG. 2b shows that the steering wheel and the wheels are in neutral position, ie in a steering angle of zero degrees.
  • Figure 2a shows the same vehicle during a left turn.
  • the steering angle can be understood here as an angle with a positive sign.
  • Figure 2c shows the same vehicle during a clockwise rotation. In this case, the steering angle can be understood as an angle with a negative sign, that is, with a sign that is reversed to that of FIG. 2a.

Abstract

La présente invention concerne un système automatique d'assistance au stationnement, comprenant un système de capteurs mesurant les données de distance entre le véhicule et son environnement, un détecteur de direction permettant de détecter la direction de déplacement du véhicule et un dispositif de traitement qui détermine un emplacement de stationnement à partir des données de distance mesurées, calcule une trajectoire à parcourir pour se garer dans ledit emplacement et pilote automatiquement un dispositif de direction du véhicule pendant l'opération de stationnement en fonction de la trajectoire calculée, notamment pour diriger le véhicule sans intervention du conducteur sur la direction. Afin d'éviter les changements de vitesse inutiles du fait du conducteur et de permettre un parcage fluide, piloté par l'embrayage, sur un terrain en pente, l'angle de braquage du dispositif de direction, réglé avant le changement de direction de déplacement, est conservé sur une première section définie I de la trajectoire après la détection d'un changement de la direction de déplacement par le détecteur de direction de déplacement du véhicule.
PCT/EP2012/056205 2011-04-08 2012-04-04 Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule WO2012136721A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020197003275A KR102026408B1 (ko) 2011-04-08 2012-04-04 롤링 방향에 기초한 주차 보조 시스템
KR1020137026365A KR101949545B1 (ko) 2011-04-08 2012-04-04 롤링 방향에 기초한 주차 보조 시스템
EP12715036.5A EP2694315B1 (fr) 2011-04-08 2012-04-04 Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule
JP2014503137A JP2014509988A (ja) 2011-04-08 2012-04-04 ロール方向に基づくパーキングアシストシステム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011007016.8 2011-04-08
DE102011007016A DE102011007016A1 (de) 2011-04-08 2011-04-08 Rollrichtungsbasiertes Parkassistenzsystem

Publications (1)

Publication Number Publication Date
WO2012136721A1 true WO2012136721A1 (fr) 2012-10-11

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ID=45976341

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/056205 WO2012136721A1 (fr) 2011-04-08 2012-04-04 Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule

Country Status (5)

Country Link
EP (1) EP2694315B1 (fr)
JP (1) JP2014509988A (fr)
KR (2) KR102026408B1 (fr)
DE (1) DE102011007016A1 (fr)
WO (1) WO2012136721A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014019875A1 (fr) * 2012-08-01 2014-02-06 Robert Bosch Gmbh Dispositif de stationnement et procédé d'aide au stationnement pour un conducteur de véhicule
CN104176051A (zh) * 2014-07-31 2014-12-03 奇瑞汽车股份有限公司 自动泊车系统测试装置及测试方法
US9731764B2 (en) 2014-12-03 2017-08-15 Hyundai Mobis Co., Ltd. Automatic parking controlling apparatus and method of vehicle
CN107054357A (zh) * 2016-02-10 2017-08-18 福特全球技术公司 平行泊车辅助
CN110316179A (zh) * 2018-03-28 2019-10-11 本田技研工业株式会社 自动驻车装置
CN111547048A (zh) * 2020-04-30 2020-08-18 惠州华阳通用电子有限公司 一种斜式车位自动泊车方法及装置

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EP2746137B1 (fr) * 2012-12-19 2019-02-20 Volvo Car Corporation Procédé et système pour aider un conducteur
DE102013100040A1 (de) * 2013-01-03 2014-07-03 E-Lead Electronic Co., Ltd. Führungsverfahren einer Rückwärtsparkhilfe
JP2019153226A (ja) * 2018-03-06 2019-09-12 トヨタ自動車株式会社 駐車支援装置
GB2578917B (en) * 2018-11-14 2021-10-06 Jaguar Land Rover Ltd Vehicle control system and method
CN111731274B (zh) * 2020-06-28 2021-11-02 中国第一汽车股份有限公司 泊车扭矩的确定方法、装置、设备和介质
CN114454873B (zh) * 2020-11-10 2023-07-25 陕西重型汽车有限公司 一种商用车自动泊车控制系统及自动泊车方法

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WO2005120932A1 (fr) * 2004-06-05 2005-12-22 Robert Bosch Gmbh Procede et dispositif d'assistance pour garer un vehicule a moteur
US20090259365A1 (en) * 2005-12-23 2009-10-15 Michael Rohlfs Park-steer assist system and method for operating a park-steer assist system
US20080154464A1 (en) * 2006-12-26 2008-06-26 Honda Motor Co., Ltd. Automatic Parking control apparatus for vehicle
DE102009027289A1 (de) * 2009-05-11 2010-11-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Einparkunterstützung eines Fahrzeugs
EP2258606A2 (fr) * 2009-06-05 2010-12-08 Valeo Schalter und Sensoren GmbH Procédé de détermination d'une courbe caractéristique de braquage des roues directrices d'une voiture et dispositif d'assistance au parking
DE102009027941A1 (de) * 2009-07-22 2011-01-27 Robert Bosch Gmbh Vorrichtung zum Rangieren eines Fahrzeugs mittels Rangierzügen mit wenigstens einer Trajektorie

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014019875A1 (fr) * 2012-08-01 2014-02-06 Robert Bosch Gmbh Dispositif de stationnement et procédé d'aide au stationnement pour un conducteur de véhicule
CN104176051A (zh) * 2014-07-31 2014-12-03 奇瑞汽车股份有限公司 自动泊车系统测试装置及测试方法
US9731764B2 (en) 2014-12-03 2017-08-15 Hyundai Mobis Co., Ltd. Automatic parking controlling apparatus and method of vehicle
CN107054357A (zh) * 2016-02-10 2017-08-18 福特全球技术公司 平行泊车辅助
CN110316179A (zh) * 2018-03-28 2019-10-11 本田技研工业株式会社 自动驻车装置
CN111547048A (zh) * 2020-04-30 2020-08-18 惠州华阳通用电子有限公司 一种斜式车位自动泊车方法及装置

Also Published As

Publication number Publication date
EP2694315B1 (fr) 2016-06-29
DE102011007016A1 (de) 2012-10-11
KR101949545B1 (ko) 2019-02-19
JP2014509988A (ja) 2014-04-24
KR20190017057A (ko) 2019-02-19
KR102026408B1 (ko) 2019-09-27
EP2694315A1 (fr) 2014-02-12
KR20140007457A (ko) 2014-01-17

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